Class OctomapToGridmapDemo

Defined in File OctomapToGridmapDemo.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class OctomapToGridmapDemo : public rclcpp::Node

Receives a volumetric OctoMap and converts it to a grid map with an elevation layer. The grid map is published and can be viewed in Rviz.

Public Types

using GetOctomapSrv = octomap_msgs::srv::GetOctomap

using OctomapMessage = octomap_msgs::msg::Octomap

Public Functions

OctomapToGridmapDemo(): Constructor.

virtual ~OctomapToGridmapDemo(): Destructor.

bool readParameters()

Reads and verifies the ROS parameters.

Returns:: true if successful.

void convertAndPublishMap()